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Generalizing Multi-Agent Path Finding for Heterogeneous Agents

Authors

Dor Atzmon,Yonathan Zax,Einat Kivity,Lidor Avitan,Jonathan Morag,Ariel Felner

Ben-Gurion University,Ben-Gurion University,Ben-Gurion University,Ben-Gurion University,Ben-Gurion University,Ben-Gurion University


Proceedings:

Proceedings of the International Symposium on Combinatorial Search, 13

Volume

Issue:

Vol. 13 No. 1 (2020): Thirteenth Annual Symposium on Combinatorial Search

Track:

Short Papers

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Abstract:

Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous, with different sizes and behaviors. In this paper, we generalize MAPF to G-MAPF for the case of heterogeneous agents. We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for G-MAPF, which does not cause significant extra overhead.

DOI:

10.1609/socs.v11i1.18540


SOCS

Vol. 13 No. 1 (2020): Thirteenth Annual Symposium on Combinatorial Search